Ubuntu22.04安装ROS2

环境：Ubuntu22.04 amd64 桌面版

1. 确保系统支持UTF-8

   locale  # check for UTF-8
   
   sudo apt update && sudo apt install locales
   sudo locale-gen en_US en_US.UTF-8
   sudo update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
   export LANG=en_US.UTF-8
   
   locale  # verify settings

2. 设置安装源
   添加ROS2 apt仓库

   sudo apt install software-properties-common
   sudo add-apt-repository universe

   添加ROS2 GPG密钥

   sudo apt update && sudo apt install curl -y
   sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

   可能需要翻墙，百度网盘链接

   添加仓库到源列表

   echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

3. 安装ROS2
   更新&升级

   sudo apt update
   sudo apt upgrade

   Desktop Install (Recommended): ROS, RViz, demos, tutorials.

   sudo apt install ros-humble-desktop

   ROS-Base Install (Bare Bones): Communication libraries, message packages, command line tools. No GUI tools.

   sudo apt install ros-humble-ros-base

   Development tools: Compilers and other tools to build ROS packages

   sudo apt install ros-dev-tools

4.  环境配置
   添加环境变量到~/.bashrc

   source /opt/ros/humble/setup.bash

5. 示例
   C++ talker

   ros2 run demo_nodes_cpp talker

   Python listener

   ros2 run demo_nodes_py listener

ROS官网链接